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   <div id="projectname">Rapidly Exploring Random Tree (RRT) Global Path Planner Plugin
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   <div id="projectbrief">Global path planner plugin for ROS Kinetic Kame that uses the RRT algorithm</div>
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<div class="title">vertex.h</div>  </div>
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<a href="vertex_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * @copyright Copyright (C) 2017, Jessica Howard </span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> * @author Jessica Howard</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * @file turtlebot_rrt/include/turtlebot_rrt/vertex.h</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> * @brief Small class to maintain information held in vertices </span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> * </span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> * @license 3-Clause BSD License</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * modification, are permitted provided that the following conditions are met:</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived from</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     this software without specific prior written permission.</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot;</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#ifndef INCLUDE_VERTEX_H_</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#define INCLUDE_VERTEX_H_</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &lt;utility&gt;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceturtlebot__rrt.html">turtlebot_rrt</a> {</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classturtlebot__rrt_1_1_vertex.html">   41</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classturtlebot__rrt_1_1_vertex.html">Vertex</a> {</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keyword">private</span>:</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        <span class="keywordtype">float</span> x_;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        <span class="keywordtype">float</span> y_;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        <span class="keywordtype">int</span> index_;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        <span class="keywordtype">int</span> parent_index_;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <a class="code" href="classturtlebot__rrt_1_1_vertex.html#aa613d6a7411e6b4317711d928ab4a9c5">Vertex</a>(<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> parent_index);</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        std::pair&lt;float, float&gt; <a class="code" href="classturtlebot__rrt_1_1_vertex.html#aa71422cc4c6d3cc363478beaedf23a88">get_location</a>();</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        </div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classturtlebot__rrt_1_1_vertex.html#a63512ad96a03558512b69280329761b8">get_index</a>();</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classturtlebot__rrt_1_1_vertex.html#a41cae85656e4b2e32bee26ba5876b6d1">get_parent</a>();</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classturtlebot__rrt_1_1_vertex.html#a1c743214d3566891fb0c88c60c337a08">   93</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classturtlebot__rrt_1_1_vertex.html#a1c743214d3566891fb0c88c60c337a08">operator==</a>(<span class="keyword">const</span> <a class="code" href="classturtlebot__rrt_1_1_vertex.html">Vertex</a>&amp; v) {</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;            <span class="keywordflow">return</span> (x_ == v.x_ &amp;&amp; y_ == v.y_ &amp;&amp; parent_index_ == v.parent_index_);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        }</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classturtlebot__rrt_1_1_vertex.html#a4bde0da65a589b6afc8f5c50aa6b1b2b">  100</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classturtlebot__rrt_1_1_vertex.html#a4bde0da65a589b6afc8f5c50aa6b1b2b">operator!=</a>(<span class="keyword">const</span> <a class="code" href="classturtlebot__rrt_1_1_vertex.html">Vertex</a>&amp; v) {</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;            <span class="keywordflow">return</span> (x_ != v.x_ || y_ != v.y_ || parent_index_ != v.parent_index_);</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        }</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    };</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;}</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* INCLUDE_VERTEX_H_ */</span><span class="preprocessor"></span></div><div class="ttc" id="classturtlebot__rrt_1_1_vertex_html_a4bde0da65a589b6afc8f5c50aa6b1b2b"><div class="ttname"><a href="classturtlebot__rrt_1_1_vertex.html#a4bde0da65a589b6afc8f5c50aa6b1b2b">turtlebot_rrt::Vertex::operator!=</a></div><div class="ttdeci">bool operator!=(const Vertex &amp;v)</div><div class="ttdoc">overload of != operator </div><div class="ttdef"><b>Definition:</b> vertex.h:100</div></div>
<div class="ttc" id="namespaceturtlebot__rrt_html"><div class="ttname"><a href="namespaceturtlebot__rrt.html">turtlebot_rrt</a></div><div class="ttdef"><b>Definition:</b> turtlebot_rrt.h:87</div></div>
<div class="ttc" id="classturtlebot__rrt_1_1_vertex_html_aa613d6a7411e6b4317711d928ab4a9c5"><div class="ttname"><a href="classturtlebot__rrt_1_1_vertex.html#aa613d6a7411e6b4317711d928ab4a9c5">turtlebot_rrt::Vertex::Vertex</a></div><div class="ttdeci">Vertex(float x, float y, int index, int parent_index)</div><div class="ttdoc">the constructor for a Vertex </div><div class="ttdef"><b>Definition:</b> vertex.cc:37</div></div>
<div class="ttc" id="classturtlebot__rrt_1_1_vertex_html_a1c743214d3566891fb0c88c60c337a08"><div class="ttname"><a href="classturtlebot__rrt_1_1_vertex.html#a1c743214d3566891fb0c88c60c337a08">turtlebot_rrt::Vertex::operator==</a></div><div class="ttdeci">bool operator==(const Vertex &amp;v)</div><div class="ttdoc">overload of == operator </div><div class="ttdef"><b>Definition:</b> vertex.h:93</div></div>
<div class="ttc" id="classturtlebot__rrt_1_1_vertex_html_a41cae85656e4b2e32bee26ba5876b6d1"><div class="ttname"><a href="classturtlebot__rrt_1_1_vertex.html#a41cae85656e4b2e32bee26ba5876b6d1">turtlebot_rrt::Vertex::get_parent</a></div><div class="ttdeci">int get_parent()</div><div class="ttdoc">returns the index of the parent vertex </div><div class="ttdef"><b>Definition:</b> vertex.cc:52</div></div>
<div class="ttc" id="classturtlebot__rrt_1_1_vertex_html"><div class="ttname"><a href="classturtlebot__rrt_1_1_vertex.html">turtlebot_rrt::Vertex</a></div><div class="ttdef"><b>Definition:</b> vertex.h:41</div></div>
<div class="ttc" id="classturtlebot__rrt_1_1_vertex_html_a63512ad96a03558512b69280329761b8"><div class="ttname"><a href="classturtlebot__rrt_1_1_vertex.html#a63512ad96a03558512b69280329761b8">turtlebot_rrt::Vertex::get_index</a></div><div class="ttdeci">int get_index()</div><div class="ttdoc">returns the index of the vertex </div><div class="ttdef"><b>Definition:</b> vertex.cc:48</div></div>
<div class="ttc" id="classturtlebot__rrt_1_1_vertex_html_aa71422cc4c6d3cc363478beaedf23a88"><div class="ttname"><a href="classturtlebot__rrt_1_1_vertex.html#aa71422cc4c6d3cc363478beaedf23a88">turtlebot_rrt::Vertex::get_location</a></div><div class="ttdeci">std::pair&lt; float, float &gt; get_location()</div><div class="ttdoc">returns the x,y location of the vertex </div><div class="ttdef"><b>Definition:</b> vertex.cc:44</div></div>
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